version: 66.04
glider: 144
mission: 15
dive: 580
start: 12 22 109 18 30 34
data:
$ID,144
$MISSION,15
$DIVE,580
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,600
$T_MISSION,630
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-73424.102
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,182258,5014.508,-14500.768,46,2.5,65,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-61.6
$GPS2,182939,5014.552,-14500.812,15,2.2,34,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.116,0.121
$KALMAN_X,-94138.3,-256.3,24.2,105903.6,-240.7
$KALMAN_Y,33131.5,129.5,99.6,-45273.2,-351.6
$MHEAD_RNG_PITCHd_Wd,297.8,17779,-12.3,-5.500
$D_GRID,1001
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-40.53,0.000,2,0.000,0.000,99,2298,2771
$GC,63,-0.68,-117.3,4.0,-7.4,2,90,7.25,2.33,-14.50,0.000,4,0.240,0.061,1837,3711,3411
$GC,309,-0.68,-117.3,34.3,-11.8,13,313,0.00,2.22,0.00,0.000,6,0.000,0.031,1837,2304,3413
$GC,632,-0.63,-117.3,68.8,-10.7,29,636,0.10,2.25,0.00,0.000,4,0.131,0.042,1867,893,3413
$GC,722,-0.66,-117.3,77.2,-8.9,33,727,0.00,2.22,0.00,0.000,6,0.000,0.037,1862,2301,3413
$GC,1056,-0.66,-117.3,106.3,-9.0,63,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,2301,3413
$GC,1383,-0.70,-117.3,131.3,-7.4,94,1387,0.00,2.25,0.00,0.000,4,0.000,0.042,1862,890,3413
$GC,1463,-0.74,-117.3,137.4,-7.3,101,1467,0.00,2.25,0.00,0.000,6,0.000,0.038,1855,2305,3414
$GC,1801,-0.77,-117.3,161.5,-7.1,123,1802,0.08,0.00,0.00,0.000,6,0.079,0.000,1780,2305,3413
$GC,2106,-0.68,-117.3,192.4,-10.0,133,2111,0.20,2.30,0.00,0.000,4,0.120,0.041,1848,887,3413
$GC,2135,-0.68,-117.3,194.9,-7.6,134,2139,0.00,2.30,0.00,0.000,6,0.000,0.045,1848,2311,3414
$GC,2472,-0.73,-117.3,217.0,-6.9,145,2476,0.00,2.28,0.00,0.000,4,0.000,0.042,1848,892,3414
$GC,2506,-0.78,-117.3,219.5,-7.3,146,2510,0.00,2.28,0.00,0.000,6,0.000,0.041,1847,2311,3414
$GC,2836,-0.83,-117.3,240.8,-6.3,157,2841,0.10,2.28,0.00,0.000,4,0.065,0.041,1776,891,3414
$GC,2915,-0.75,-117.3,248.7,-10.5,159,2920,0.25,2.28,0.00,0.000,6,0.117,0.044,1841,2304,3414
$GC,3234,-0.79,-117.3,271.3,-7.1,170,3238,0.00,2.28,0.00,0.000,4,0.000,0.049,1841,897,3413
$GC,3285,-0.84,-117.3,275.3,-7.6,171,3289,0.00,2.28,0.00,0.000,6,0.000,0.044,1837,2311,3414
$GC,3600,-0.88,-117.3,299.3,-7.6,181,3602,0.10,0.00,0.00,0.000,6,0.064,0.000,1759,2312,3413
$GC,3933,-0.76,-117.3,337.8,-11.6,187,3937,0.22,2.33,0.00,0.000,4,0.122,0.043,1833,891,3413
$GC,3972,-0.80,-117.3,341.3,-7.3,187,3976,0.00,2.28,0.00,0.000,6,0.000,0.041,1826,2303,3413
$GC,4299,-0.80,-117.3,363.4,-6.8,193,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,1826,2304,3413
$GC,4601,-0.80,-117.3,383.6,-6.7,198,4605,0.00,2.28,0.00,0.000,4,0.000,0.044,1826,895,3412
$GC,4665,-0.83,-117.3,388.1,-7.1,199,4669,0.00,2.30,0.00,0.000,6,0.000,0.043,1819,2313,3413
$GC,5031,-0.83,-117.3,414.0,-7.0,205,5035,0.00,2.33,0.00,0.000,4,0.000,0.048,1819,888,3412
$GC,5071,-0.83,-117.3,416.9,-7.4,205,5075,0.00,2.30,0.00,0.000,6,0.000,0.038,1809,2312,3412
$GC,5392,-0.83,-117.3,439.8,-7.2,211,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2313,3412
$GC,5695,-0.83,-117.3,461.7,-7.2,216,5699,0.00,2.33,0.00,0.000,4,0.000,0.047,1809,895,3412
$GC,5758,-0.83,-117.3,466.5,-7.7,217,5762,0.00,2.30,0.00,0.000,6,0.000,0.042,1801,2310,3411
$GC,6125,-0.81,-117.3,495.3,-7.9,223,6129,0.10,2.33,0.00,0.000,4,0.137,0.045,1829,891,3411
$GC,6188,-0.85,-117.3,499.9,-7.2,224,6192,0.00,2.30,0.00,0.000,6,0.000,0.041,1823,2307,3411
$GC,6561,-0.88,-117.3,524.0,-6.4,230,6565,0.00,2.30,0.00,0.000,4,0.000,0.044,1823,891,3411
$GC,6589,-0.91,-117.3,526.3,-7.9,230,6593,0.00,2.30,0.00,0.000,6,0.000,0.044,1821,2305,3411
$GC,6923,-0.93,-117.3,548.5,-6.7,236,6924,0.10,0.00,0.00,0.000,6,0.064,0.000,1755,2306,3411
$GC,7226,-0.83,-117.3,578.7,-10.2,241,7231,0.17,2.33,0.00,0.000,4,0.123,0.044,1814,889,3411
$GC,7294,-0.85,-117.3,584.1,-7.0,242,7298,0.00,2.28,0.00,0.000,6,0.000,0.044,1809,2305,3410
$GC,7660,-0.85,-117.3,609.2,-6.9,248,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2306,3411
$GC,7964,-0.85,-117.3,630.5,-7.1,253,7968,0.00,2.30,0.00,0.000,4,0.000,0.051,1809,898,3411
$GC,8003,-0.85,-117.3,633.5,-7.9,253,8007,0.00,2.30,0.00,0.000,6,0.000,0.044,1807,2314,3410
$GC,8324,-0.85,-117.3,657.0,-7.3,259,8328,0.00,2.30,0.00,0.000,4,0.000,0.046,1807,893,3410
$GC,8368,-0.85,-117.3,660.4,-7.4,259,8373,0.00,2.28,0.00,0.000,6,0.000,0.041,1798,2305,3410
$GC,8685,-0.85,-117.3,682.5,-7.0,265,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2305,3411
$GC,8987,-0.85,-117.3,702.7,-6.7,270,8991,0.00,2.30,0.00,0.000,4,0.000,0.052,1798,898,3410
$GC,9043,-0.85,-117.3,706.8,-7.8,270,9049,0.00,2.30,0.00,0.000,6,0.000,0.046,1795,2310,3410
$GC,9353,-0.85,-117.3,728.2,-6.9,276,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,2311,3409
$GC,9657,-0.85,-117.3,750.4,-7.4,281,9661,0.00,2.33,0.00,0.000,4,0.000,0.045,1794,890,3409
$GC,9708,-0.85,-117.3,754.7,-8.2,281,9713,0.12,2.30,0.00,0.000,6,0.124,0.042,1820,2306,3409
$GC,10019,-0.90,-117.3,774.2,-6.3,286,10020,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2306,3409
$GC,10322,-0.94,-117.3,793.6,-6.4,291,10326,0.10,2.30,0.00,0.000,4,0.070,0.047,1761,894,3409
$GC,10385,-0.86,-117.3,799.6,-10.2,291,10391,0.20,2.30,0.00,0.000,6,0.126,0.045,1813,2312,3409
$GC,10695,-0.89,-117.3,821.5,-6.9,297,10696,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2312,3409
$GC,10998,-0.93,-117.3,842.2,-6.8,302,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2312,3409
$GC,11302,-0.96,-117.3,863.4,-6.9,307,11306,0.00,2.33,0.00,0.000,4,0.000,0.051,1813,889,3408
$GC,11341,-0.99,-117.3,866.4,-8.0,307,11346,0.10,2.30,0.00,0.000,6,0.074,0.041,1762,2304,3409
$GC,11663,-0.92,-117.3,895.6,-9.2,313,11667,0.15,2.30,0.00,0.000,4,0.126,0.052,1797,3711,3409
$GC,11708,-0.94,-117.3,899.1,-7.5,313,11712,0.00,2.22,0.00,0.000,6,0.000,0.036,1797,2300,3408
$GC,12024,-0.94,-117.3,919.3,-6.3,319,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2299,3408
$GC,12327,-0.94,-117.3,936.7,-5.7,324,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,2300,3408
$GC,12630,-0.94,-117.3,953.6,-5.6,329,12634,0.00,2.33,0.00,0.000,4,0.000,0.049,1797,898,3408
$GC,12671,-0.94,-117.3,956.2,-6.5,329,12675,0.00,2.30,0.00,0.000,6,0.000,0.042,1795,2302,3408
$GC,12992,-0.94,-117.3,975.7,-6.1,335,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2302,3408
$STATE,13231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13231,begin apogee
$GC,13238,-0.22,0.0,991.9,6.7,339,13340,0.50,0.00,98.88,1.289,6,0.114,0.000,1954,2302,2931
$STATE,13341,end apogee,CONTROL_FINISHED_OK
$STATE,13341,begin climb
$GC,13344,0.68,117.3,993.5,0.0,340,13455,0.60,2.55,104.12,1.260,4,0.071,0.051,2159,3706,2451
$GC,13486,0.49,117.6,992.2,5.5,343,13491,0.25,2.40,0.00,0.000,6,0.163,0.035,2110,2304,2447
$GC,13842,0.50,154.9,976.9,4.2,349,13876,0.00,0.00,32.35,1.223,6,0.000,0.000,2110,2304,2299
$GC,14144,0.54,188.3,963.6,4.4,354,14176,0.00,0.00,30.12,1.216,6,0.000,0.000,2110,2304,2163
$GC,14447,0.55,198.8,948.5,5.1,359,14462,0.00,2.33,10.38,1.086,4,0.000,0.051,2110,3709,2119
$GC,14485,0.55,198.8,946.1,6.6,359,14490,0.00,2.28,0.00,0.000,6,0.000,0.041,2118,2293,2118
$GC,14807,0.55,198.8,926.4,6.2,365,14809,0.00,0.00,0.00,0.000,6,0.000,0.000,2118,2293,2116
$GC,15110,0.55,198.8,907.0,6.4,370,15114,0.00,2.33,0.00,0.000,4,0.000,0.051,2118,3715,2115
$GC,15150,0.52,198.8,903.8,8.1,370,15154,0.00,2.22,0.00,0.000,6,0.000,0.034,2128,2302,2114
$GC,15472,0.50,198.8,881.5,6.9,376,15476,0.00,2.30,0.00,0.000,4,0.000,0.051,2128,3711,2114
$GC,15501,0.45,198.8,879.2,8.3,376,15506,0.17,2.25,0.00,0.000,6,0.149,0.035,2093,2293,2114
$GC,15834,0.52,215.4,862.4,4.9,382,15851,0.00,0.00,15.45,1.118,6,0.000,0.000,2093,2293,2052
$GC,16137,0.62,243.7,848.5,4.5,387,16173,0.15,0.00,28.65,1.084,6,0.055,0.000,2160,2292,1937
$GC,16441,0.55,243.7,823.4,8.5,392,16446,0.15,2.35,0.00,0.000,4,0.131,0.050,2120,3711,1931
$GC,16480,0.55,243.7,820.1,7.3,392,16484,0.00,2.25,0.00,0.000,6,0.000,0.037,2128,2303,1931
$GC,16801,0.55,243.7,799.3,6.5,398,16805,0.00,2.30,0.00,0.000,4,0.000,0.049,2138,885,1930
$GC,16824,0.55,243.7,797.6,7.4,398,16828,0.00,2.28,0.00,0.000,6,0.000,0.045,2138,2305,1929
$GC,17162,0.55,243.7,771.3,7.9,404,17166,0.00,2.28,0.00,0.000,4,0.000,0.053,2138,3714,1929
$GC,17190,0.52,243.7,768.8,8.7,404,17195,0.15,2.22,0.00,0.000,6,0.137,0.036,2107,2298,1929
$GC,17524,0.58,243.7,746.9,6.5,410,17527,0.00,2.28,0.00,0.000,4,0.000,0.052,2116,887,1928
$GC,17552,0.65,243.7,744.9,6.0,410,17557,0.08,2.28,0.00,0.000,6,0.084,0.044,2170,2314,1928
$GC,17891,0.56,243.7,710.6,10.3,416,17895,0.17,2.22,0.00,0.000,4,0.137,0.048,2121,3711,1928
$GC,17942,0.56,243.7,706.0,7.8,416,17946,0.00,2.20,0.00,0.000,6,0.000,0.033,2129,2287,1928
$GC,18263,0.56,243.7,684.5,6.5,422,18264,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2287,1928
$GC,18566,0.56,243.7,665.7,6.2,427,18567,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2287,1927
$GC,18869,0.56,243.7,646.3,6.4,432,18873,0.00,2.30,0.00,0.000,4,0.000,0.054,2130,3707,1927
$GC,18891,0.56,243.7,644.4,8.3,432,18895,0.00,2.17,0.00,0.000,6,0.000,0.032,2139,2298,1927
$GC,19235,0.56,243.7,618.6,7.6,438,19239,0.00,2.25,0.00,0.000,4,0.000,0.048,2150,894,1927
$GC,19258,0.56,243.7,616.7,8.3,438,19263,0.12,2.25,0.00,0.000,6,0.117,0.039,2116,2310,1926
$GC,19602,0.61,243.7,595.4,6.2,444,19605,0.00,2.25,0.00,0.000,4,0.000,0.050,2116,3706,1927
$GC,19637,0.64,243.7,593.1,7.3,444,19640,0.00,2.17,0.00,0.000,6,0.000,0.032,2124,2303,1926
$GC,19975,0.68,243.7,571.9,6.2,450,19977,0.08,0.00,0.00,0.000,6,0.078,0.000,2186,2302,1927
$GC,20278,0.56,243.7,541.6,10.2,455,20283,0.20,2.28,0.00,0.000,4,0.139,0.048,2124,3708,1927
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$STATE,28534,end climb,SURFACE_DEPTH_REACHED
$STATE,28534,begin surface coast
$FINISH,1.5,1.025290
$STATE,28556,end surface coast,CONTROL_FINISHED_OK
$STATE,28556,begin surface
$SM_CCo,28634,0.00,0.000,0,0,1587,329.68
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$IRIDIUM_FIX,4953.05,-14456.63,180399,101015
$TT8_MAMPS,0.029146
$HUMID,1735
$INTERNAL_PRESSURE,7.37333
$TCM_TEMP,15.70
$XPDR_PINGS,74
$24V_AH,21.8,83.832
$10V_AH,10.4,72.750
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$DEVICE_SECS,19.200,245.525,396.175,0.000,0.000,30.637,27.051,163.900,18.500,0.000,0.000,36.552,1707.101,23692.393,553.719,2247.939,821.893,33.382,1728.075,0.000,2204.690,0.000,0.528,0.000
$DEVICE_MAMPS,240.071,60.593,1289.327,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,528.708,610.387,774.535,828.803,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44394,747
$CAP_FILE_SIZE,188280,0
$CFSIZE,260165632,213512192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,231209,022906,5016.604,-14505.092,35,1.5,35,18.5